dc1394thread.cpp

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/*
 * SPDX-FileCopyrightText: 2025-2025 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#include "dc1394thread.h"
#include <QDebug>
#include "dc1394SliderBase.h"
#include <yarp/os/LogStream.h>
 
using namespace yarp::dev;
 
DC1394Thread::DC1394Thread(std::string loc, std::string rem, QObject* parent) :
    QThread(parent)
{
    this->rem = rem.c_str();
    this->loc = loc.c_str();
 
    opCounter = 0;
}
 
bool DC1394Thread::getCameraDescription(yarp::dev::CameraDescriptor &camera)
{
    if(fgControl)
        return fgControl->getCameraDescription(camera);
 
    return false;
}
 
void DC1394Thread::run()
{
    grabberControl = new yarp::dev::PolyDriver;
    yarp::os::Property config;
    config.put("device", "frameGrabber_nwc_yarp");
    config.put("remote",rem.toLatin1().data());
    config.put("local",loc.toLatin1().data());
 
    bool opened = grabberControl->open(config);
    if(!opened)
    {
        yError() << "Cannot open frameGrabber_nwc_yarp device.";
        // TODO: What to do here??
    }
 
    grabberControl->view(fgControl);
    grabberControl->view(DC1394Control);
 
    if(!fgControl)
    {
        yError() << "RemoteGrabber does not have IFrameGrabberControl interface. Cannot proceed.";
        // TODO: What to do here??
    }
 
    if(!DC1394Control)
    {
        yWarning() << "RemoteGrabber does not have IFrameGrabberControlDC1394 interface, please update yarp.";
    }
 
    keepRunning = true;
    while(keepRunning){
 
        QVariantList list = taskList.takeFirst();
 
        threadFunction func = (threadFunction)list.takeFirst().toInt();
 
        switch(func){
        case _unknown:{
            done();
            break;
        }
        case _initFormatTab:{
            initFormatTab();
            break;
        }
        case _init:{
            init();
            break;
        }
        case _reload:{
            reload();
            break;
        }
        case _reset:{
            reset();
            break;
        }
        case _loadDefault:{
            loadDefualt();
            break;
        }
        case _setTransmissionDC1394:{
            setTransmissionDC1394(list);
            break;
        }
        case _setPowerDC1394:{
            setPowerDC1394(list);
            break;
        }
        case _setFormat7WindowDC1394:{
            setFormat7WindowDC1394(list);
            break;
        }
        case _setVideoModeDC1394:{
            setVideoModeDC1394(list);
            break;
        }
        case _setColorCodingDC1394:{
            setColorCodingDC1394(list);
            break;
        }
        case _setFPSDC1394:{
            setFPSDC1394(list);
            break;
        }
        case _setISOSpeedDC1394:{
            setISOSpeedDC1394(list);
            break;
        }
        case _setBytesPerPacketDC1394:{
            setBytesPerPacketDC1394(list);
            break;
        }
        case _setOperationModeDC1394:{
            setOperationModeDC1394(list);
            break;
        }
        case _sliderRefresh:{
            sliderRefresh(list);
            break;
        }
        case _sliderWBRefresh:{
            sliderWBRefresh(list);
            break;
        }
        case _sliderPropagate:{
            sliderPropagate(list);
            break;
        }
        case _sliderWBPropagate:{
            sliderWBPropagate(list);
            break;
        }
        case _sliderSetFeature:{
            sliderSetFeatureDC1394(list);
            break;
        }
        case _sliderWBSetFeature:{
            sliderWBSetFeatureDC1394(list);
            break;
        }
        case _sliderOnePush:{
            sliderOnePush(list);
            break;
        }
        case _sliderWBOnePush:{
            sliderWBOnePush(list);
            break;
        }
        case _sliderRadioAuto:{
            sliderRadioAuto(list);
            break;
        }
        case _sliderPower:{
            sliderPower(list);
            break;
        }
        case _sliderHasFeature:{
            sliderHasFeature(list);
            break;
        }
        }
 
 
        while(keepRunning && taskList.isEmpty()){
            mutex.lock();
            waitCond.wait(&mutex,200);
            mutex.unlock();
        }
    }
 
    grabberControl->close();
    delete grabberControl;
}
 
void DC1394Thread::stop()
{
    keepRunning = false;
    waitCond.wakeAll();
    while(isRunning()){
        QThread::msleep(100);
    }
}
 
void DC1394Thread::doTask(threadFunction func, QVariantList args)
{
    mutex1.lock();
    QVariant vaFunc = (int)func;
 
    if(func != _sliderSetFeature && func != _sliderWBSetFeature){
        if(opCounter == 0){
            startLoading();
        }
        opCounter++;
    }
 
    QVariantList list;
    list.append(vaFunc);
    list.append(args);
 
    mutex.lock();
    taskList.enqueue(list);
    waitCond.wakeAll();
    mutex.unlock();
 
    mutex1.unlock();
}
 
void DC1394Thread::doTask(threadFunction func)
{
    mutex1.lock();
    QVariant vaFunc = (int)func;
 
    if(opCounter == 0){
        startLoading();
    }
    opCounter++;
 
    QVariantList list;
    list.append(vaFunc);
    mutex.lock();
    taskList.enqueue(list);
    waitCond.wakeAll();
    mutex.unlock();
 
    mutex1.unlock();
}
 
void DC1394Thread::initFormatTab()
{
    uint videoModeMaskDC1394;
    DC1394Control->getVideoModeMaskDC1394(videoModeMaskDC1394);
    uint fPSMaskDC1394;
    DC1394Control->getFPSMaskDC1394(fPSMaskDC1394);
    uint colorCodingMaskDC1394;
    unsigned int vmode;
    DC1394Control->getVideoModeDC1394(vmode);
    DC1394Control->getColorCodingMaskDC1394(vmode, colorCodingMaskDC1394);
    initFormatTabDone(videoModeMaskDC1394, fPSMaskDC1394, colorCodingMaskDC1394);
 
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::init()
{
    uint videoModeDC1394;
    DC1394Control->getVideoModeDC1394(videoModeDC1394);
    uint fPSDC1394;
    DC1394Control->getFPSDC1394(fPSDC1394);
    uint iSOSpeedDC1394;
    DC1394Control->getISOSpeedDC1394(iSOSpeedDC1394);
    bool operationModeDC1394;
    DC1394Control->getOperationModeDC1394(operationModeDC1394);
    uint colorCodingDC1394;
    DC1394Control->getColorCodingDC1394(colorCodingDC1394);
    unsigned int xmax,ymax,xstep,ystep,xoffstep,yoffstep;
    DC1394Control->getFormat7MaxWindowDC1394(xmax,ymax,xstep,ystep,xoffstep,yoffstep);
    QSize max = QSize(xmax,ymax);
    QSize step = QSize(xstep,ystep);
    QSize offset = QSize(xoffstep,yoffstep);
 
    unsigned int xdim,ydim;
    int x0,y0;
    DC1394Control->getFormat7WindowDC1394(xdim,ydim,x0,y0);
    QSize dim = QSize(xdim,ydim);
    QSize pos = QSize(x0,y0);
 
    uint bytesPerPacketDC1394;
    DC1394Control->getBytesPerPacketDC1394(bytesPerPacketDC1394);
    bool transmissionDC1394;
    DC1394Control->getTransmissionDC1394(transmissionDC1394);
 
    initDone(videoModeDC1394,
             fPSDC1394,
             iSOSpeedDC1394,
             operationModeDC1394,
             colorCodingDC1394,
             max,
             step,
             offset,
             dim,
             pos,
             bytesPerPacketDC1394,
             transmissionDC1394
             );
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::reload()
{
    uint videoModeDC1394;
    DC1394Control->getVideoModeDC1394(videoModeDC1394);
    uint colorCodingMaskDC1394;
    DC1394Control->getColorCodingMaskDC1394(videoModeDC1394, colorCodingMaskDC1394);
 
    unsigned int xmax,ymax,xstep,ystep,xoffstep,yoffstep;
    DC1394Control->getFormat7MaxWindowDC1394(xmax,ymax,xstep,ystep,xoffstep,yoffstep);
    QSize max = QSize(xmax,ymax);
    QSize step = QSize(xstep,ystep);
    QSize offset = QSize(xoffstep,yoffstep);
 
    unsigned int xdim,ydim;
    int x0,y0;
    DC1394Control->getFormat7WindowDC1394(xdim,ydim,x0,y0);
    QSize dim = QSize(xdim,ydim);
    QSize pos = QSize(x0,y0);
 
    uint colorCodingDC1394;
    DC1394Control->getColorCodingDC1394(colorCodingDC1394);
    uint bytesPerPacketDC1394;
    DC1394Control->getBytesPerPacketDC1394(bytesPerPacketDC1394);
    uint fPSMaskDC1394;
    DC1394Control->getFPSMaskDC1394(fPSMaskDC1394);
    uint fPSDC1394;
    DC1394Control->getFPSDC1394(fPSDC1394);
    uint iSOSpeedDC1394;
    DC1394Control->getISOSpeedDC1394(iSOSpeedDC1394);
 
    reloadDone(videoModeDC1394,
               colorCodingMaskDC1394,
               max,
               step,
               offset,
               dim,
               pos,
               colorCodingDC1394,
               bytesPerPacketDC1394,
               fPSMaskDC1394,
               fPSDC1394,
               iSOSpeedDC1394);
 
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::loadDefualt()
{
    DC1394Control->setDefaultsDC1394();
    opCounter++;
    reload();
 
    uint bytesPerPacketDC1394;
    DC1394Control->getBytesPerPacketDC1394(bytesPerPacketDC1394);
    uint colorCodingMaskDC1394;
    unsigned int vmode;
    DC1394Control->getVideoModeDC1394(vmode);
    DC1394Control->getColorCodingMaskDC1394(vmode, colorCodingMaskDC1394);
    DC1394Control->setTransmissionDC1394(true);
    bool transmissionDC1394;
    DC1394Control->getTransmissionDC1394(transmissionDC1394);
 
    loadDefaultDone(bytesPerPacketDC1394,colorCodingMaskDC1394,transmissionDC1394);
 
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::reset()
{
    DC1394Control->setResetDC1394();
    opCounter++;
    reload();
 
    uint bytesPerPacketDC1394;
    DC1394Control->getBytesPerPacketDC1394(bytesPerPacketDC1394);
    uint colorCodingMaskDC1394;
    unsigned int vmode;
    DC1394Control->getVideoModeDC1394(vmode);
    DC1394Control->getColorCodingMaskDC1394(vmode, colorCodingMaskDC1394);
    bool transmissionDC1394;
    DC1394Control->getTransmissionDC1394(transmissionDC1394);
 
    resetDone(bytesPerPacketDC1394,colorCodingMaskDC1394,transmissionDC1394);
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::setTransmissionDC1394(QVariantList arg)
{
    bool value = arg.at(0).toBool();
    DC1394Control->setTransmissionDC1394(value);
    setTransmissionDC1394Done();
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::setPowerDC1394(QVariantList arg)
{
    bool value = arg.at(0).toBool();
    DC1394Control->setPowerDC1394(value);
    setPowerDC1394Done();
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
void DC1394Thread::setFormat7WindowDC1394(QVariantList arg)
{
    unsigned int xdim=arg.at(0).toUInt();
    unsigned int ydim=arg.at(1).toUInt();
    int x0=arg.at(2).toInt();
    int y0=arg.at(3).toInt();
 
    DC1394Control->setFormat7WindowDC1394(xdim,ydim,x0,y0);
    setFormat7WindowDC1394Done();
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::setVideoModeDC1394(QVariantList arg)
{
    unsigned int video_mode=arg.at(0).toUInt();
    DC1394Control->setVideoModeDC1394(video_mode);
    setVideoModeDC1394Done();
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::setColorCodingDC1394(QVariantList arg)
{
    int value =arg.at(0).toInt();
    DC1394Control->setColorCodingDC1394(value);
 
    setColorCodingDC1394Done();
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::setFPSDC1394(QVariantList arg)
{
    int value = arg.at(0).toInt();
    DC1394Control->setFPSDC1394(value);
 
    setFPSDC1394Done();
 
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::setISOSpeedDC1394(QVariantList arg)
{
    int value = arg.at(0).toInt();
    DC1394Control->setISOSpeedDC1394(value);
 
    setISOSpeedDC1394Done();
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::setBytesPerPacketDC1394(QVariantList arg)
{
    int value = arg.at(0).toUInt();
    DC1394Control->setBytesPerPacketDC1394(value);
 
    setBytesPerPacketDC1394Done();
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::setOperationModeDC1394(QVariantList arg)
{
    int value = arg.at(0).toInt();
    DC1394Control->setOperationModeDC1394(value);
 
    setOperationModeDC1394Done();
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::sliderRefresh(QVariantList arg)
{
    yarp::dev::cameraFeature_id_t feature;
 
    QObject *ptr = (QObject*)arg.at(0).value<void*>();
    int value = arg.at(1).toInt();
    feature = (yarp::dev::cameraFeature_id_t)value;
 
 
    FeatureMode mode;
    bool bON, bAuto, bHasAuto, bHasManual, bHasOnePush, bHasOnOff;
    fgControl->getActive(feature, bON);
    fgControl->getMode(feature, mode);
    fgControl->hasOnOff(feature, bHasOnOff);
    fgControl->hasAuto(feature, bHasAuto);
    fgControl->hasManual(feature, bHasManual);
    fgControl->hasOnePush(feature, bHasOnePush);
    double val;
    fgControl->getFeature(feature, val);
    mode == FeatureMode::MODE_AUTO ? bAuto = true : bAuto = false;
 
    sliderRefreshDone(ptr,bON,bAuto,bHasOnOff,bHasAuto,bHasManual,bHasOnePush,val);
 
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::sliderWBRefresh(QVariantList arg)
{
    yarp::dev::cameraFeature_id_t feature;
 
    QObject *ptr = (QObject*)arg.at(0).value<void*>();
    int value = arg.at(1).toInt();
    feature = (yarp::dev::cameraFeature_id_t)value;
 
    FeatureMode mode;
    bool bON, bAuto, bHasAuto, bHasManual, bHasOnePush, bHasOnOff;
    fgControl->getActive(feature, bON);
    fgControl->getMode(feature, mode);
    fgControl->hasOnOff(feature, bHasOnOff);
    fgControl->hasAuto(feature, bHasAuto);
    fgControl->hasManual(feature, bHasManual);
    fgControl->hasOnePush(feature, bHasOnePush);
    mode == FeatureMode::MODE_AUTO ? bAuto = true : bAuto = false;
 
    double redVal;
    double blueVal;
    fgControl->getFeature(feature, blueVal, redVal);
 
    sliderWBRefreshDone(ptr,bON,bAuto,bHasOnOff,bHasAuto,bHasManual,bHasOnePush,redVal,blueVal);
 
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::sliderPropagate(QVariantList arg)
{
    cameraFeature_id_t feature;
    int value = arg.at(0).toInt();
    feature = (cameraFeature_id_t)value;
 
 
    double val = arg.at(1).toDouble();
    bool bRBa = arg.at(2).toBool();
    bool bPwr = arg.at(3).toBool();
 
    FeatureMode mode = bRBa ? FeatureMode::MODE_AUTO : FeatureMode::MODE_MANUAL;
 
    fgControl->setFeature(feature,val);
    fgControl->setMode(feature,mode);
    fgControl->setActive(feature,bPwr);
 
    sliderPropagateDone();
 
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::sliderWBPropagate(QVariantList arg)
{
    cameraFeature_id_t feature;
    int value = arg.at(0).toInt();
    feature = (cameraFeature_id_t)value;
 
 
    double redVal = arg.at(1).toDouble();
    double blueVal = arg.at(2).toDouble();
    bool bRBa = arg.at(3).toBool();
    bool bPwr = arg.at(4).toBool();
 
    fgControl->setFeature(feature, blueVal, redVal);
    FeatureMode mode;
    bRBa ? mode = FeatureMode::MODE_AUTO : mode = FeatureMode::MODE_MANUAL;
 
    fgControl->setMode(feature,mode);
    fgControl->setActive(feature,bPwr);
 
    sliderWBPropagateDone();
 
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
 
void DC1394Thread::sliderSetFeatureDC1394(QVariantList arg)
{
    cameraFeature_id_t feature;
    QObject *ptr = (QObject*)arg.at(0).value<void*>();
    int value = arg.at(1).toInt();
    feature = (cameraFeature_id_t)value;
 
    double val = arg.at(2).toDouble();
 
    fgControl->setFeature(feature,val);
 
    sliderSetFeatureDC1394Done(ptr,val);
}
 
void DC1394Thread::sliderWBSetFeatureDC1394(QVariantList arg)
{
    cameraFeature_id_t feature;
    QObject *ptr = (QObject*)arg.at(0).value<void*>();
    int value = arg.at(1).toInt();
    feature = (cameraFeature_id_t)value;
 
    double redVal = arg.at(2).toDouble();
    double blueVal = arg.at(3).toDouble();
 
    fgControl->setFeature(feature, blueVal,redVal);
 
    sliderWBSetFeatureDC1394Done(ptr,redVal,blueVal);
}
 
void DC1394Thread::sliderOnePush(QVariantList arg)
{
    cameraFeature_id_t feature;
    QObject *ptr = (QObject*)arg.at(0).value<void*>();
    int value = arg.at(1).toInt();
    feature = (cameraFeature_id_t)value;
 
    fgControl->setOnePush(feature);
 
    double val;
    fgControl->getFeature(feature, val);
 
    sliderOnePushDone(ptr,val);
 
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::sliderWBOnePush(QVariantList arg)
{
    cameraFeature_id_t feature;
    QObject *ptr = (QObject*)arg.at(0).value<void*>();
    int value = arg.at(1).toInt();
    feature = (cameraFeature_id_t)value;
 
    double redVal;
    double blueVal;
 
    fgControl->setOnePush(feature);
    fgControl->getFeature(feature, blueVal, redVal);
 
    sliderWBOnePushDone(ptr,redVal,blueVal);
 
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
 
void DC1394Thread::sliderRadioAuto(QVariantList arg)
{
    cameraFeature_id_t feature;
    QObject *ptr = (QObject*)arg.at(0).value<void*>();
    int value = arg.at(1).toInt();
    bool bVal = arg.at(2).toBool();
    feature = (cameraFeature_id_t)value;
    FeatureMode mode = bVal ? FeatureMode::MODE_AUTO : FeatureMode::MODE_MANUAL;
 
    bool bON;
    fgControl->getActive(feature, bON);
    fgControl->setMode(feature, mode);
 
    sliderRadioAutoDone(ptr,true, bVal);
 
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
void DC1394Thread::sliderPower(QVariantList arg)
{
    qDebug() << "sliderPower";
 
    cameraFeature_id_t feature;
    QObject *ptr = (QObject*)arg.at(0).value<void*>();
    int value = arg.at(1).toInt();
    bool bON = arg.at(2).toBool();
    feature = (cameraFeature_id_t)value;
 
    fgControl->setActive(feature, bON);
 
    bool hasAuto, hasManual, hasOnePush;
    fgControl->hasAuto(feature, hasAuto);
    fgControl->hasManual(feature, hasManual);
    fgControl->hasOnePush(feature, hasOnePush);
    sliderPowerDone(ptr,bON,hasAuto,hasManual,hasOnePush);
 
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
}
 
 
void DC1394Thread::sliderHasFeature(QVariantList arg)
{
    cameraFeature_id_t feature;
    QObject *ptr = (QObject*)arg.at(0).value<void*>();
    int value = arg.at(1).toInt();
    feature = (cameraFeature_id_t)value;
 
    bool hasFeature = false;
    fgControl->hasFeature(feature, hasFeature);
 
    opCounter--;
    if(opCounter == 0){
        stopLoading();
    }
 
    sliderHasFeatureDone(ptr,hasFeature);
}